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<a href="#nested-classes">类</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pri-types">Private 类型</a> &#124;
<a href="#pri-methods">Private 成员函数</a> &#124;
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<div class="title">pcl::GlobalHypothesesVerification&lt; ModelT, SceneT &gt; 模板类 参考</div>  </div>
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<p>A hypothesis verification method proposed in "A Global Hypotheses Verification Method for 3D Object Recognition", A. Aldoma and F. Tombari and L. Di Stefano and Markus Vincze, ECCV 2012  
 <a href="classpcl_1_1_global_hypotheses_verification.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="hv__go_8h_source.html">hv_go.h</a>&gt;</code></p>
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类 pcl::GlobalHypothesesVerification&lt; ModelT, SceneT &gt; 继承关系图:</div>
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类</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_global_hypotheses_verification_1_1move.html">move</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_global_hypotheses_verification_1_1move__manager.html">move_manager</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1_global_hypotheses_verification_1_1_recognition_model.html">RecognitionModel</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_global_hypotheses_verification_1_1_s_a_model.html">SAModel</a></td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>verify</b> ()</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>setRadiusNormals</b> (float r)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>setMaxIterations</b> (int i)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>setRegularizer</b> (float r)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>setRadiusClutter</b> (float r)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>setClutterRegularizer</b> (float cr)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>setDetectClutter</b> (bool d)</td></tr>
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<tr class="inherit_header pub_methods_classpcl_1_1_hypothesis_verification"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_hypothesis_verification')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_hypothesis_verification.html">pcl::HypothesisVerification&lt; ModelT, SceneT &gt;</a></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>getRequiresNormals</b> ()</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>setResolution</b> (float r)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>setOcclusionThreshold</b> (float t)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>setInlierThreshold</b> (float r)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>getMask</b> (std::vector&lt; bool &gt; &amp;mask)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>addCompleteModels</b> (std::vector&lt; typename <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; ModelT &gt;::ConstPtr &gt; &amp;complete_models)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>addNormalsClouds</b> (std::vector&lt; <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_normal.html">pcl::Normal</a> &gt;::ConstPtr &gt; &amp;complete_models)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>addModels</b> (std::vector&lt; typename <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; ModelT &gt;::ConstPtr &gt; &amp;models, bool occlusion_reasoning=false)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>setSceneCloud</b> (const typename <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; SceneT &gt;::Ptr &amp;scene_cloud)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>setOcclusionCloud</b> (const typename <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; SceneT &gt;::Ptr &amp;occ_cloud)</td></tr>
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Private 类型</h2></td></tr>
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typedef <a class="el" href="classpcl_1_1_global_hypotheses_verification.html">GlobalHypothesesVerification</a>&lt; ModelT, SceneT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>SAOptimizerT</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_normal_estimation.html">pcl::NormalEstimation</a>&lt; SceneT, <a class="el" href="structpcl_1_1_normal.html">pcl::Normal</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>NormalEstimator_</b></td></tr>
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Private 成员函数</h2></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>setPreviousBadInfo</b> (float f)</td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><b>getPreviousBadInfo</b> ()</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>setPreviousExplainedValue</b> (float v)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>setPreviousDuplicity</b> (int v)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>setPreviousDuplicityCM</b> (int v)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>updateUnexplainedVector</b> (std::vector&lt; int &gt; &amp;unexplained_, std::vector&lt; float &gt; &amp;unexplained_distances, std::vector&lt; float &gt; &amp;unexplained_by_RM, std::vector&lt; int &gt; &amp;explained, std::vector&lt; int &gt; &amp;explained_by_RM, float val)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>updateExplainedVector</b> (std::vector&lt; int &gt; &amp;vec, std::vector&lt; float &gt; &amp;vec_float, std::vector&lt; int &gt; &amp;explained_, std::vector&lt; float &gt; &amp;explained_by_RM_distance_weighted, float sign)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>updateCMDuplicity</b> (std::vector&lt; int &gt; &amp;vec, std::vector&lt; int &gt; &amp;occupancy_vec, float sign)</td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><b>getTotalExplainedInformation</b> (std::vector&lt; int &gt; &amp;explained_, std::vector&lt; float &gt; &amp;explained_by_RM_distance_weighted, int *duplicity_)</td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><b>getTotalBadInformation</b> (std::vector&lt; boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_global_hypotheses_verification_1_1_recognition_model.html">RecognitionModel</a> &gt; &gt; &amp;recog_models)</td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><b>getUnexplainedInformationInNeighborhood</b> (std::vector&lt; float &gt; &amp;unexplained, std::vector&lt; int &gt; &amp;explained)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>initialize</b> ()</td></tr>
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mets::gol_type&#160;</td><td class="memItemRight" valign="bottom"><b>evaluateSolution</b> (const std::vector&lt; bool &gt; &amp;active, int changed)</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>addModel</b> (typename <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; ModelT &gt;::ConstPtr &amp;model, typename <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; ModelT &gt;::ConstPtr &amp;complete_model, boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_global_hypotheses_verification_1_1_recognition_model.html">RecognitionModel</a> &gt; &amp;recog_model)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>computeClutterCue</b> (boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_global_hypotheses_verification_1_1_recognition_model.html">RecognitionModel</a> &gt; &amp;recog_model)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>SAOptimize</b> (std::vector&lt; int &gt; &amp;cc_indices, std::vector&lt; bool &gt; &amp;sub_solution)</td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
Private 属性</h2></td></tr>
<tr class="memitem:a8bebc039db89dbb628b4b1af9f0f5594"><td class="memItemLeft" align="right" valign="top"><a id="a8bebc039db89dbb628b4b1af9f0f5594"></a>
<a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_normal.html">pcl::Normal</a> &gt;::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>scene_normals_</b></td></tr>
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<a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_i.html">pcl::PointXYZI</a> &gt;::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>clusters_cloud_</b></td></tr>
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std::vector&lt; int &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>complete_cloud_occupancy_by_RM_</b></td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><b>res_occupancy_grid_</b></td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><b>w_occupied_multiple_cm_</b></td></tr>
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std::vector&lt; int &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>explained_by_RM_</b></td></tr>
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std::vector&lt; float &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>explained_by_RM_distance_weighted</b></td></tr>
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std::vector&lt; float &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>unexplained_by_RM_neighboorhods</b></td></tr>
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std::vector&lt; boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_global_hypotheses_verification_1_1_recognition_model.html">RecognitionModel</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>recognition_models_</b></td></tr>
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std::vector&lt; size_t &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>indices_</b></td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><b>regularizer_</b></td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><b>clutter_regularizer_</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>detect_clutter_</b></td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><b>radius_neighborhood_GO_</b></td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><b>radius_normals_</b></td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><b>previous_explained_value</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>previous_duplicity_</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>previous_duplicity_complete_models_</b></td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><b>previous_bad_info_</b></td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><b>previous_unexplained_</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>max_iterations_</b></td></tr>
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<a class="el" href="classpcl_1_1_global_hypotheses_verification_1_1_s_a_model.html">SAModel</a>&#160;</td><td class="memItemRight" valign="bottom"><b>best_seen_</b></td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><b>initial_temp_</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>n_cc_</b></td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
额外继承的成员函数</h2></td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1_hypothesis_verification"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_hypothesis_verification')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_hypothesis_verification.html">pcl::HypothesisVerification&lt; ModelT, SceneT &gt;</a></td></tr>
<tr class="memitem:a3c1c56223942e8e3896cf6794250023c inherit pro_attribs_classpcl_1_1_hypothesis_verification"><td class="memItemLeft" align="right" valign="top"><a id="a3c1c56223942e8e3896cf6794250023c"></a>
std::vector&lt; bool &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>mask_</b></td></tr>
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<a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; SceneT &gt;::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>scene_cloud_</b></td></tr>
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<a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; SceneT &gt;::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>occlusion_cloud_</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>occlusion_cloud_set_</b></td></tr>
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<a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; SceneT &gt;::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>scene_cloud_downsampled_</b></td></tr>
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<a class="el" href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree</a>&lt; SceneT &gt;::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>scene_downsampled_tree_</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>zbuffer_self_occlusion_resolution_</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>requires_normals_</b></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename ModelT, typename SceneT&gt;<br />
class pcl::GlobalHypothesesVerification&lt; ModelT, SceneT &gt;</h3>

<p>A hypothesis verification method proposed in "A Global Hypotheses Verification Method for 3D Object Recognition", A. Aldoma and F. Tombari and L. Di Stefano and Markus Vincze, ECCV 2012 </p>
<dl class="section author"><dt>作者</dt><dd>Aitor Aldoma </dd></dl>
</div><hr/>该类的文档由以下文件生成:<ul>
<li>recognition/include/pcl/recognition/hv/<a class="el" href="hv__go_8h_source.html">hv_go.h</a></li>
<li>recognition/include/pcl/recognition/impl/hv/<a class="el" href="hv__go_8hpp_source.html">hv_go.hpp</a></li>
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